public List <int> FindPath(int s, int fx, int fy, int dist = 0)
{
if (_lastPath != null && fx == _lastFx && fy == _lastFy && _lastPath.Count > 0)
{
var(sx, sy, jj, pp) = NavigationUtils.DecodeState(s);
var(sx1, sy1, jj1, pp1) = NavigationUtils.DecodeState(_lastPath[0]);
if (sx == sx1 && sy == sy1)
{
_lastPath.RemoveAt(0);
return(_lastPath);
}
}
var order = new LinkedList <int>();
order.AddLast(s);
var parent = new Dictionary <int, int>();
parent.Add(s, s);
int f = -1;
while (order.Count > 0)
{
var currentCode = order.First.Value;
order.RemoveFirst();
var(x, y, j, p) = NavigationUtils.DecodeState(currentCode);
if (Math.Abs(x - fx) <= dist && Math.Abs(y - fy) <= dist)
{
f = currentCode;
break;
}
var currentPoint = NavigationUtils.EncodePoint(x, y);
for (int move = 0; move < PointMaster.Moves; ++move)
{
if (!_pointMaster.IsValidMove(currentPoint, move))
{
continue;
}
var newCode = ApplyMove(x, y, j, p, move);
if (newCode < 0 || parent.ContainsKey(newCode))
{
continue;
}
var(nx, ny, nj, np) = NavigationUtils.DecodeState(newCode);
parent[newCode] = currentCode;
order.AddLast(newCode);
}
if (j == 1 && p == 1)
{
var newCode = NavigationUtils.EncodeState(x, y, 0, 0);
if (newCode < 0 || parent.ContainsKey(newCode))
{
continue;
}
parent[newCode] = currentCode;
order.AddLast(newCode);
}
}
if (f == -1)
{
return(null);
}
var path = new List <int>();
var cur = f;
while (cur != s)
{
cur = parent[cur];
if (cur == s)
{
break;
}
path.Add(cur);
}
path.Reverse();
order.Clear();
parent.Clear();
_lastFx = fx;
_lastFy = fy;
_lastPath = path;
return(path);
}
public void BuildPoints()
{
var oldWidth = _game.Level.Tiles.Length;
var oldHeight = _game.Level.Tiles[0].Length;
_width = oldWidth * Divisor;
_height = oldHeight * Divisor;
for (var i = 0; i < oldWidth; ++i)
{
for (var j = 0; j < oldHeight; ++j)
{
if (_game.Level.Tiles[i][j] == Tile.JumpPad)
{
for (int i1 = Math.Max(0, i * Divisor - UnitHalfWidth); i1 <= Math.Min((i + 1) * Divisor + UnitHalfWidth, _width); ++i1)
{
for (int j1 = Math.Max(0, j * Divisor - UnitHeight); j1 <= (j + 1) * Divisor; ++j1)
{
_jumpPoints.Set(NavigationUtils.EncodePoint(i1, j1), true);
}
}
}
if (_game.Level.Tiles[i][j] == Tile.Ladder)
{
for (int i1 = Math.Max(0, i * Divisor + 1), k = 0; i1 <= Math.Min((i + 1) * Divisor - 1, _width); ++i1, ++k)
{
for (int j1 = Math.Max(0, j * Divisor - UnitHalfHeight); j1 <= (j + 1) * Divisor; ++j1)
{
_groundPoints.Set(NavigationUtils.EncodePoint(i1, j1), true);
_dropPoints.Set(NavigationUtils.EncodePoint(i1, j1), true);
_ladderPoints.Set(NavigationUtils.EncodePoint(i1, j1), true);
}
}
}
if (_game.Level.Tiles[i][j] == Tile.Platform)
{
for (int k = Math.Max(0, i * Divisor - UnitHalfWidth); k <= Math.Min((i + 1) * Divisor + UnitHalfWidth, _width); ++k)
{
_groundPoints.Set(NavigationUtils.EncodePoint(k, (j + 1) * Divisor), true);
_dropPoints.Set(NavigationUtils.EncodePoint(k, (j + 1) * Divisor), true);
}
}
if (_game.Level.Tiles[i][j] == Tile.Wall)
{
for (int i1 = Math.Max(0, i * Divisor - UnitHalfWidth); i1 <= Math.Min((i + 1) * Divisor + UnitHalfWidth, _width); ++i1)
{
for (int j1 = Math.Max(0, j * Divisor - UnitHeight); j1 < (j + 1) * Divisor; ++j1)
{
_blockPoints.Set(NavigationUtils.EncodePoint(i1, j1), true);
}
}
var bottomExists = j * Divisor > UnitHeight;
for (int i1 = Math.Max(0, i * Divisor - UnitHalfWidth); i1 <= Math.Min((i + 1) * Divisor + UnitHalfWidth, _width); ++i1)
{
_groundPoints.Set(NavigationUtils.EncodePoint(i1, (j + 1) * Divisor), true);
if (bottomExists)
{
_bottomPoints.Set(NavigationUtils.EncodePoint(i1, j * Divisor - UnitHeight - 1), true);
}
}
if (bottomExists)
{
if (i * Divisor > UnitHalfWidth)
{
_sharpLeftPoints.Set(
NavigationUtils.EncodePoint(i * Divisor - UnitHalfWidth - 1,
j * Divisor - UnitHeight - 1), true);
}
if ((i + 1) * Divisor < _width - UnitHalfWidth)
{
_sharpRightPoints.Set(
NavigationUtils.EncodePoint((i + 1) * Divisor + UnitHalfWidth + 1,
j * Divisor - UnitHeight - 1), true);
}
}
}
}
}
}
private int ApplyMove(int x, int y, int j, int p, int move)
{
if (move <= 5 && j != 0)
{
return(-1);
}
if (move >= 6 && move <= 7 && p != 0)
{
return(-1);
}
if (move >= 8 && move <= 10 && !(j > 0 && p == 0))
{
return(-1);
}
if (move >= 14 && !(j > 1 && p == 1))
{
return(-1);
}
switch (move)
{
case 0: return(NavigationUtils.EncodeState(x - 1, y, 0, 0));
case 1: return(NavigationUtils.EncodeState(x + 1, y, 0, 0));
case 2: return(NavigationUtils.EncodeState(x - 1, y + 1, 32, 0));
case 3: return(NavigationUtils.EncodeState(x + 1, y + 1, 32, 0));
case 4: return(NavigationUtils.EncodeState(x, y + 1, 32, 0));
case 5: return(NavigationUtils.EncodeState(x - 1, y - 1, 0, 0));
case 6: return(NavigationUtils.EncodeState(x + 1, y - 1, 0, 0));
case 7: return(NavigationUtils.EncodeState(x, y - 1, 0, 0));
case 8: return(NavigationUtils.EncodeState(x - 1, y + 1, j - 1, 0));
case 9: return(NavigationUtils.EncodeState(x + 1, y + 1, j - 1, 0));
case 10: return(NavigationUtils.EncodeState(x, y + 1, j - 1, 0));
case 11: return(NavigationUtils.EncodeState(x - 1, y + 2, 31, 1));
case 12: return(NavigationUtils.EncodeState(x + 1, y + 2, 31, 1));
case 13: return(NavigationUtils.EncodeState(x, y + 2, 31, 1));
case 14: return(NavigationUtils.EncodeState(x - 1, y + 2, j - 1, 1));
case 15: return(NavigationUtils.EncodeState(x + 1, y + 2, j - 1, 1));
case 16: return(NavigationUtils.EncodeState(x, y + 2, j - 1, 1));
case 17: return(NavigationUtils.EncodeState(x, y, 0, 0));
default:
//impossible
return(-1);
}
}
public bool IsPointLadder(int x, int y) => _ladderPoints.Get(NavigationUtils.EncodePoint(x, y));
public bool IsValidMove(int x, int y, int move) => _goodMoves.Get(NavigationUtils.EncodePoint(x, y) * Moves + move);
public bool IsPointBottom(int x, int y) => _bottomPoints.Get(NavigationUtils.EncodePoint(x, y));
public bool IsSharpRight(int x, int y) => _sharpRightPoints.Get(NavigationUtils.EncodePoint(x, y));
public bool IsPointDrop(int x, int y) => _dropPoints.Get(NavigationUtils.EncodePoint(x, y));
public bool IsPointJump(int x, int y) => _jumpPoints.Get(NavigationUtils.EncodePoint(x, y));
public bool IsPointGround(int x, int y) => _groundPoints.Get(NavigationUtils.EncodePoint(x, y));
public bool IsPointBlocking(int x, int y) => _blockPoints.Get(NavigationUtils.EncodePoint(x, y));
public void CheckMoves()
{
for (int x = 0; x <= _width; ++x)
{
for (int y = 0; y <= _height; ++y)
{
var point = NavigationUtils.EncodePoint(x, y);
var offset = point * Moves;
if (!IsPointJump(point))
{
if (x > 0 && IsPointGround(point) && !IsPointBlocking(x - 1, y))
{
_goodMoves.Set(offset + 0, true);
}
if (x < _width && IsPointGround(point) && !IsPointBlocking(x + 1, y))
{
_goodMoves.Set(offset + 1, true);
}
if (x > 0 && y < _height && IsPointGround(point) && !IsSharpLeft(x - 1, y) && !IsPointBlocking(x - 1, y + 1))
{
_goodMoves.Set(offset + 2, true);
}
if (x < _width && y < _height && IsPointGround(point) && !IsSharpRight(x + 1, y) && !IsPointBlocking(x + 1, y + 1))
{
_goodMoves.Set(offset + 3, true);
}
if (y < _height && IsPointGround(point) && !IsPointBlocking(x, y + 1))
{
_goodMoves.Set(offset + 4, true);
}
if (x > 0 && y > 0 && (IsPointDrop(point) || !IsPointGround(point)) && !IsSharpRight(x, y - 1) && !IsPointBlocking(x - 1, y - 1))
{
_goodMoves.Set(offset + 5, true);
}
if (x < _width && y > 0 && (IsPointDrop(point) || !IsPointGround(point)) && !IsSharpLeft(x, y - 1) && !IsPointBlocking(x + 1, y - 1))
{
_goodMoves.Set(offset + 6, true);
}
if (y > 0 && (IsPointDrop(point) || !IsPointGround(point)) && !IsPointBlocking(x, y - 1))
{
_goodMoves.Set(offset + 7, true);
}
if (x > 0 && y < _height && !IsSharpLeft(x - 1, y) && !IsPointBlocking(x - 1, y + 1))
{
_goodMoves.Set(offset + 8, true);
}
if (x < _width && y < _height && !IsSharpRight(x + 1, y) && !IsPointBlocking(x + 1, y + 1))
{
_goodMoves.Set(offset + 9, true);
}
if (y < _height && !IsPointBlocking(x, y + 1))
{
_goodMoves.Set(offset + 10, true);
}
if (x > 0 && y + 1 < _height && !IsSharpLeft(x - 1, y) && !IsSharpLeft(x - 1, y + 1) && !IsPointBlocking(x - 1, y + 2))
{
_goodMoves.Set(offset + 14, true);
}
if (x < _width && y + 1 < _height && !IsSharpRight(x + 1, y) && !IsSharpRight(x + 1, y + 1) && !IsPointBlocking(x + 1, y + 2))
{
_goodMoves.Set(offset + 15, true);
}
if (y + 1 < _height && !IsPointBlocking(x, y + 2))
{
_goodMoves.Set(offset + 16, true);
}
if (IsPointBottom(x, y + 1))
{
_goodMoves.Set(offset + 17, true);
}
}
else
{
if (x > 0 && y + 1 < _height && !IsSharpLeft(x - 1, y) && !IsSharpLeft(x - 1, y + 1) && !IsPointBlocking(x - 1, y + 2))
{
_goodMoves.Set(offset + 11, true);
}
if (x < _width && y + 1 < _height && !IsSharpRight(x + 1, y) && !IsSharpRight(x + 1, y + 1) && !IsPointBlocking(x + 1, y + 2))
{
_goodMoves.Set(offset + 12, true);
}
if (y + 1 < _height && !IsPointBlocking(x, y + 2))
{
_goodMoves.Set(offset + 13, true);
}
}
}
}
}
